/*
 * Copyright (c) 2023, Texas Instruments Incorporated - http://www.ti.com
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * *  Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *
 * *  Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 *
 * *  Neither the name of Texas Instruments Incorporated nor the names of
 *    its contributors may be used to endorse or promote products derived
 *    from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
 * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
 * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
 * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
 * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

/*
 *  ============ ti_msp_dl_config.h =============
 *  Configured MSPM0 DriverLib module declarations
 *
 *  DO NOT EDIT - This file is generated for the MSPM0G350X
 *  by the SysConfig tool.
 */
#ifndef ti_msp_dl_config_h
#define ti_msp_dl_config_h

#define CONFIG_MSPM0G350X
#define CONFIG_MSPM0G3507

#if defined(__ti_version__) || defined(__TI_COMPILER_VERSION__)
#define SYSCONFIG_WEAK __attribute__((weak))
#elif defined(__IAR_SYSTEMS_ICC__)
#define SYSCONFIG_WEAK __weak
#elif defined(__GNUC__)
#define SYSCONFIG_WEAK __attribute__((weak))
#endif

#include <ti/devices/msp/msp.h>
#include <ti/driverlib/driverlib.h>
#include <ti/driverlib/m0p/dl_core.h>

#ifdef __cplusplus
extern "C" {
#endif

/*
 *  ======== SYSCFG_DL_init ========
 *  Perform all required MSP DL initialization
 *
 *  This function should be called once at a point before any use of
 *  MSP DL.
 */


/* clang-format off */

#define POWER_STARTUP_DELAY                                                (16)



#define CPUCLK_FREQ                                                     80000000



/* Defines for MOTOR_PWM */
#define MOTOR_PWM_INST                                                     TIMA0
#define MOTOR_PWM_INST_IRQHandler                               TIMA0_IRQHandler
#define MOTOR_PWM_INST_INT_IRQN                                 (TIMA0_INT_IRQn)
#define MOTOR_PWM_INST_CLK_FREQ                                          8000000
/* GPIO defines for channel 0 */
#define GPIO_MOTOR_PWM_C0_PORT                                             GPIOB
#define GPIO_MOTOR_PWM_C0_PIN                                     DL_GPIO_PIN_14
#define GPIO_MOTOR_PWM_C0_IOMUX                                  (IOMUX_PINCM31)
#define GPIO_MOTOR_PWM_C0_IOMUX_FUNC                 IOMUX_PINCM31_PF_TIMA0_CCP0
#define GPIO_MOTOR_PWM_C0_IDX                                DL_TIMER_CC_0_INDEX
/* GPIO defines for channel 1 */
#define GPIO_MOTOR_PWM_C1_PORT                                             GPIOA
#define GPIO_MOTOR_PWM_C1_PIN                                      DL_GPIO_PIN_3
#define GPIO_MOTOR_PWM_C1_IOMUX                                   (IOMUX_PINCM8)
#define GPIO_MOTOR_PWM_C1_IOMUX_FUNC                  IOMUX_PINCM8_PF_TIMA0_CCP1
#define GPIO_MOTOR_PWM_C1_IDX                                DL_TIMER_CC_1_INDEX
/* GPIO defines for channel 2 */
#define GPIO_MOTOR_PWM_C2_PORT                                             GPIOA
#define GPIO_MOTOR_PWM_C2_PIN                                      DL_GPIO_PIN_7
#define GPIO_MOTOR_PWM_C2_IOMUX                                  (IOMUX_PINCM14)
#define GPIO_MOTOR_PWM_C2_IOMUX_FUNC                 IOMUX_PINCM14_PF_TIMA0_CCP2
#define GPIO_MOTOR_PWM_C2_IDX                                DL_TIMER_CC_2_INDEX
/* GPIO defines for channel 3 */
#define GPIO_MOTOR_PWM_C3_PORT                                             GPIOA
#define GPIO_MOTOR_PWM_C3_PIN                                      DL_GPIO_PIN_4
#define GPIO_MOTOR_PWM_C3_IOMUX                                   (IOMUX_PINCM9)
#define GPIO_MOTOR_PWM_C3_IOMUX_FUNC                  IOMUX_PINCM9_PF_TIMA0_CCP3
#define GPIO_MOTOR_PWM_C3_IDX                                DL_TIMER_CC_3_INDEX




/* Defines for GRAY_I2C */
#define GRAY_I2C_INST                                                       I2C0
#define GRAY_I2C_INST_IRQHandler                                 I2C0_IRQHandler
#define GRAY_I2C_INST_INT_IRQN                                     I2C0_INT_IRQn
#define GRAY_I2C_BUS_SPEED_HZ                                             400000
#define GPIO_GRAY_I2C_SDA_PORT                                             GPIOA
#define GPIO_GRAY_I2C_SDA_PIN                                     DL_GPIO_PIN_28
#define GPIO_GRAY_I2C_IOMUX_SDA                                   (IOMUX_PINCM3)
#define GPIO_GRAY_I2C_IOMUX_SDA_FUNC                    IOMUX_PINCM3_PF_I2C0_SDA
#define GPIO_GRAY_I2C_SCL_PORT                                             GPIOA
#define GPIO_GRAY_I2C_SCL_PIN                                     DL_GPIO_PIN_31
#define GPIO_GRAY_I2C_IOMUX_SCL                                   (IOMUX_PINCM6)
#define GPIO_GRAY_I2C_IOMUX_SCL_FUNC                    IOMUX_PINCM6_PF_I2C0_SCL

/* Defines for IMU_I2C */
#define IMU_I2C_INST                                                        I2C1
#define IMU_I2C_INST_IRQHandler                                  I2C1_IRQHandler
#define IMU_I2C_INST_INT_IRQN                                      I2C1_INT_IRQn
#define IMU_I2C_BUS_SPEED_HZ                                              400000
#define GPIO_IMU_I2C_SDA_PORT                                              GPIOA
#define GPIO_IMU_I2C_SDA_PIN                                      DL_GPIO_PIN_30
#define GPIO_IMU_I2C_IOMUX_SDA                                    (IOMUX_PINCM5)
#define GPIO_IMU_I2C_IOMUX_SDA_FUNC                     IOMUX_PINCM5_PF_I2C1_SDA
#define GPIO_IMU_I2C_SCL_PORT                                              GPIOA
#define GPIO_IMU_I2C_SCL_PIN                                      DL_GPIO_PIN_29
#define GPIO_IMU_I2C_IOMUX_SCL                                    (IOMUX_PINCM4)
#define GPIO_IMU_I2C_IOMUX_SCL_FUNC                     IOMUX_PINCM4_PF_I2C1_SCL


/* Defines for DEBUG_USART */
#define DEBUG_USART_INST                                                   UART0
#define DEBUG_USART_INST_FREQUENCY                                       4000000
#define DEBUG_USART_INST_IRQHandler                             UART0_IRQHandler
#define DEBUG_USART_INST_INT_IRQN                                 UART0_INT_IRQn
#define GPIO_DEBUG_USART_RX_PORT                                           GPIOA
#define GPIO_DEBUG_USART_TX_PORT                                           GPIOA
#define GPIO_DEBUG_USART_RX_PIN                                   DL_GPIO_PIN_11
#define GPIO_DEBUG_USART_TX_PIN                                   DL_GPIO_PIN_10
#define GPIO_DEBUG_USART_IOMUX_RX                                (IOMUX_PINCM22)
#define GPIO_DEBUG_USART_IOMUX_TX                                (IOMUX_PINCM21)
#define GPIO_DEBUG_USART_IOMUX_RX_FUNC                 IOMUX_PINCM22_PF_UART0_RX
#define GPIO_DEBUG_USART_IOMUX_TX_FUNC                 IOMUX_PINCM21_PF_UART0_TX
#define DEBUG_USART_BAUD_RATE                                           (115200)
#define DEBUG_USART_IBRD_4_MHZ_115200_BAUD                                   (2)
#define DEBUG_USART_FBRD_4_MHZ_115200_BAUD                                  (11)
/* Defines for DEBUG_PID */
#define DEBUG_PID_INST                                                     UART1
#define DEBUG_PID_INST_FREQUENCY                                         4000000
#define DEBUG_PID_INST_IRQHandler                               UART1_IRQHandler
#define DEBUG_PID_INST_INT_IRQN                                   UART1_INT_IRQn
#define GPIO_DEBUG_PID_TX_PORT                                             GPIOA
#define GPIO_DEBUG_PID_TX_PIN                                      DL_GPIO_PIN_8
#define GPIO_DEBUG_PID_IOMUX_TX                                  (IOMUX_PINCM19)
#define GPIO_DEBUG_PID_IOMUX_TX_FUNC                   IOMUX_PINCM19_PF_UART1_TX
#define DEBUG_PID_BAUD_RATE                                             (115200)
#define DEBUG_PID_IBRD_4_MHZ_115200_BAUD                                     (2)
#define DEBUG_PID_FBRD_4_MHZ_115200_BAUD                                    (11)




/* Defines for OLED_SPI */
#define OLED_SPI_INST                                                      SPI1
#define OLED_SPI_INST_IRQHandler                                SPI1_IRQHandler
#define OLED_SPI_INST_INT_IRQN                                    SPI1_INT_IRQn
#define GPIO_OLED_SPI_PICO_PORT                                           GPIOB
#define GPIO_OLED_SPI_PICO_PIN                                   DL_GPIO_PIN_15
#define GPIO_OLED_SPI_IOMUX_PICO                                (IOMUX_PINCM32)
#define GPIO_OLED_SPI_IOMUX_PICO_FUNC                IOMUX_PINCM32_PF_SPI1_PICO
/* GPIO configuration for OLED_SPI */
#define GPIO_OLED_SPI_SCLK_PORT                                           GPIOA
#define GPIO_OLED_SPI_SCLK_PIN                                   DL_GPIO_PIN_17
#define GPIO_OLED_SPI_IOMUX_SCLK                                (IOMUX_PINCM39)
#define GPIO_OLED_SPI_IOMUX_SCLK_FUNC                IOMUX_PINCM39_PF_SPI1_SCLK
#define GPIO_OLED_SPI_CS0_PORT                                            GPIOB
#define GPIO_OLED_SPI_CS0_PIN                                    DL_GPIO_PIN_20
#define GPIO_OLED_SPI_IOMUX_CS0                                 (IOMUX_PINCM48)
#define GPIO_OLED_SPI_IOMUX_CS0_FUNC                  IOMUX_PINCM48_PF_SPI1_CS0



/* Defines for DMA_I2C_READ */
#define DMA_I2C_READ_CHAN_ID                                                 (0)
#define IMU_I2C_INST_DMA_TRIGGER                              (DMA_I2C1_RX_TRIG)


/* Port definition for Pin Group USER_LED */
#define USER_LED_PORT                                                    (GPIOA)

/* Defines for PIN_0: GPIOA.0 with pinCMx 1 on package pin 33 */
#define USER_LED_PIN_0_PIN                                       (DL_GPIO_PIN_0)
#define USER_LED_PIN_0_IOMUX                                      (IOMUX_PINCM1)
/* Port definition for Pin Group BEEP */
#define BEEP_PORT                                                        (GPIOA)

/* Defines for PIN_27: GPIOA.27 with pinCMx 60 on package pin 31 */
#define BEEP_PIN_27_PIN                                         (DL_GPIO_PIN_27)
#define BEEP_PIN_27_IOMUX                                        (IOMUX_PINCM60)
/* Port definition for Pin Group SPI_OLED */
#define SPI_OLED_PORT                                                    (GPIOB)

/* Defines for RST: GPIOB.16 with pinCMx 33 on package pin 4 */
#define SPI_OLED_RST_PIN                                        (DL_GPIO_PIN_16)
#define SPI_OLED_RST_IOMUX                                       (IOMUX_PINCM33)
/* Defines for DC: GPIOB.17 with pinCMx 43 on package pin 14 */
#define SPI_OLED_DC_PIN                                         (DL_GPIO_PIN_17)
#define SPI_OLED_DC_IOMUX                                        (IOMUX_PINCM43)
/* Port definition for Pin Group USER_BUTTON */
#define USER_BUTTON_PORT                                                 (GPIOB)

/* Defines for BUTTON_1: GPIOB.8 with pinCMx 25 on package pin 60 */
#define USER_BUTTON_BUTTON_1_PIN                                 (DL_GPIO_PIN_8)
#define USER_BUTTON_BUTTON_1_IOMUX                               (IOMUX_PINCM25)
/* Defines for BUTTON_2: GPIOB.11 with pinCMx 28 on package pin 63 */
#define USER_BUTTON_BUTTON_2_PIN                                (DL_GPIO_PIN_11)
#define USER_BUTTON_BUTTON_2_IOMUX                               (IOMUX_PINCM28)
/* Defines for BUTTON_3: GPIOB.10 with pinCMx 27 on package pin 62 */
#define USER_BUTTON_BUTTON_3_PIN                                (DL_GPIO_PIN_10)
#define USER_BUTTON_BUTTON_3_IOMUX                               (IOMUX_PINCM27)
/* Port definition for Pin Group ENCORDER */
#define ENCORDER_PORT                                                    (GPIOB)

/* Defines for RIGHT_PULSE: GPIOB.4 with pinCMx 17 on package pin 52 */
// pins affected by this interrupt request:["RIGHT_PULSE","LEFT_PULSE"]
#define ENCORDER_INT_IRQN                                       (GPIOB_INT_IRQn)
#define ENCORDER_INT_IIDX                       (DL_INTERRUPT_GROUP1_IIDX_GPIOB)
#define ENCORDER_RIGHT_PULSE_IIDX                            (DL_GPIO_IIDX_DIO4)
#define ENCORDER_RIGHT_PULSE_PIN                                 (DL_GPIO_PIN_4)
#define ENCORDER_RIGHT_PULSE_IOMUX                               (IOMUX_PINCM17)
/* Defines for LEFT_PULSE: GPIOB.5 with pinCMx 18 on package pin 53 */
#define ENCORDER_LEFT_PULSE_IIDX                             (DL_GPIO_IIDX_DIO5)
#define ENCORDER_LEFT_PULSE_PIN                                  (DL_GPIO_PIN_5)
#define ENCORDER_LEFT_PULSE_IOMUX                                (IOMUX_PINCM18)
/* Defines for RIGHT_DIR: GPIOB.6 with pinCMx 23 on package pin 58 */
#define ENCORDER_RIGHT_DIR_PIN                                   (DL_GPIO_PIN_6)
#define ENCORDER_RIGHT_DIR_IOMUX                                 (IOMUX_PINCM23)
/* Defines for LEFT_DIR: GPIOB.7 with pinCMx 24 on package pin 59 */
#define ENCORDER_LEFT_DIR_PIN                                    (DL_GPIO_PIN_7)
#define ENCORDER_LEFT_DIR_IOMUX                                  (IOMUX_PINCM24)



/* clang-format on */

void SYSCFG_DL_init(void);
void SYSCFG_DL_initPower(void);
void SYSCFG_DL_GPIO_init(void);
void SYSCFG_DL_SYSCTL_init(void);
void SYSCFG_DL_MOTOR_PWM_init(void);
void SYSCFG_DL_GRAY_I2C_init(void);
void SYSCFG_DL_IMU_I2C_init(void);
void SYSCFG_DL_DEBUG_USART_init(void);
void SYSCFG_DL_DEBUG_PID_init(void);
void SYSCFG_DL_OLED_SPI_init(void);
void SYSCFG_DL_DMA_init(void);

void SYSCFG_DL_SYSTICK_init(void);

bool SYSCFG_DL_saveConfiguration(void);
bool SYSCFG_DL_restoreConfiguration(void);

#ifdef __cplusplus
}
#endif

#endif /* ti_msp_dl_config_h */
